CN107351937A - Bionical Hydraulic Creeping robot - Google Patents
Bionical Hydraulic Creeping robot Download PDFInfo
- Publication number
- CN107351937A CN107351937A CN201710555155.5A CN201710555155A CN107351937A CN 107351937 A CN107351937 A CN 107351937A CN 201710555155 A CN201710555155 A CN 201710555155A CN 107351937 A CN107351937 A CN 107351937A
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- Prior art keywords
- joint
- support frame
- neck
- bearing
- stepper motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of bionical Hydraulic Creeping robot, it is characterised in that including：Incidence, including chin, head maxilla, forward neck portion, rear neck and the fixed support being sequentially connected；Presoma, including forerunner's body support frame, the neck neck structure link being arranged on forerunner's body support frame, the foreleg portion mechanism for being arranged on forerunner's body support frame both sides, back body, including rear-guard body support frame, be arranged on rear-guard body support frame rear leg mechanism, be arranged on the tail swing stepper motor after rear quarters body support frame and be arranged on the last rotation hinged-support of rear quarters body support frame；And afterbody, including six turning joint units, each turning joint unit includes turning joint, the turning joint of first turning joint unit is provided with a spherical pair, rear quarters body mechanism is rotatablely connected by rotating hinged-support and the spherical secondary and tail structure, presoma is rotatablely connected by lower rotating disc and upper rotating disc with back body, and back body is rotatablely connected by rotating hinged-support and spherical secondary and afterbody.
Description
Technical field
The present invention relates to a kind of bionical Hydraulic Creeping robot, and in particular to a kind of bionical hydraulic robot.
Background technology
Climbing robot is one kind of mobile robot, and climbing robot is divided by bionics angle, can be with bionical a variety of
Insect and animal reptile fashion；It can also divide according to working method, pipeline climbing robot and plane climbing robot；By work(
Energy purposes can be divided into：Welding arc climbing robot, detection climbing robot, cleaning climbing robot, lifting climbing robot, line walking
Climbing robot and toy climbing robot；It can be divided into by walking manner：Wheeled, crawler type, creeping motion type etc..According to different drives
Flowing mode and function etc. can design the climbing robot of a variety of different structures and purposes, can do some instead of the mankind and be difficult to
Into operation, therefore climbing robot is all with a wide range of applications in multiple fields such as scientific research, production and lives.
The climbing robot of prior art is generally complicated, therefore manufacture and maintenance cost are higher.Therefore, in order to reduce
Cost, occur some climbing robots for simplifying structure in the prior art, but the climbing robot of this simplified structure is again difficult
To reach precision of preferably creeping.So realizing high accuracy if how relatively simple structure, this is climbing robot field
Interior a great problem.
The content of the invention
The present invention is, and it is an object of the present invention to provide bionical Hydraulic Creeping robot in order to solving the above problems and carry out.
The invention provides a kind of bionical Hydraulic Creeping robot, have the feature that, including：
Incidence, including chin, head maxilla, forward neck portion, rear neck and the fixed support being sequentially connected；Presoma, including
Forerunner's body support frame, the neck neck structure link being arranged on forerunner's body support frame, the front leg portions for being arranged on forerunner's body support frame both sides
Mechanism, it is arranged on the compression spring after forerunner's body support frame and is arranged on the lower rotating disc of presoma back-end support；Back body, bag
Include rear-guard body support frame, the rear leg mechanism being arranged on rear-guard body support frame, the upper rotating disc for being arranged on back body front end, be arranged on
Tail swing stepper motor after rear quarters body support frame and it is arranged on the last rotation hinged-support of rear quarters body support frame；And afterbody, bag
Six turning joint units are included, each turning joint unit includes turning joint, the swing connector being arranged in turning joint
With the cross swing component being arranged in turning joint, wherein, the turning joint of first turning joint unit is provided with a ball
Shape pair, rear quarters body mechanism by rotate hinged-support and it is spherical it is secondary be rotatablely connected with tail structure, incidence by fixed support and
Neck neck mechanism is connected with incidence, and presoma is rotatablely connected by lower rotating disc and upper rotating disc with back body, and back body leads to
Cross rotation hinged-support and spherical secondary and afterbody is rotatablely connected.
In bionical Hydraulic Creeping robot provided by the invention, it can also have the feature that：Wherein, incidence is also
Including chin drive component, head maxilla drive component, forward neck portion drive component and rear neck drive component, rear neck drive component
It is bent including being arranged on support bracket fastened first stepper motor, the first crank being connected on the first stepper motor and being connected to first
First connecting rod on handle, first the first crank of driving stepper motor traction first connecting rod, so as to neck movement after driving, forward neck portion
Drive component is including the second stepper motor being arranged on neck, the second crank being connected in the second cloth stepper motor and is connected to
Second connecting rod on second crank, second the second crank of driving stepper motor traction second connecting rod, so as to drive forward neck portion to move,
The 3rd stepper motor that head maxilla drive component includes being arranged on neck, the 3rd crank being connected in the 3rd cloth stepper motor and
The third connecting rod being connected on the 3rd crank, the crank of the 3rd driving stepper motor the 3rd traction third connecting rod, so as to drive on head
Jaw movement, the 4th stepper motor that chin drive component includes being arranged on a maxilla, the be connected on the 4th stepper motor
Four cranks and the fourth link being connected on the 4th crank, the crank of the 4th driving stepper motor the 4th traction fourth link, so as to
Drive chin motion.
In bionical Hydraulic Creeping robot provided by the invention, it can also have the feature that：Wherein, presoma branch
Hip joint bearing, preceding thigh bearing and front side pendulum bearing, front leg portions include being connected to presoma before frame both sides are respectively arranged with
Preceding hip joint bearing on preceding hip joint, be connected to before preceding big leg joint on thigh bearing, be connected to before on big leg joint
Preceding calf joint, be connected to the cross turning joint of front side pendulum bearing and before being connected to calf joint ball pin.
In bionical Hydraulic Creeping robot provided by the invention, it can also have the feature that：Wherein, front leg portions are also
Shank closes before preceding thigh hydraulic cylinder and connection including big leg joint before being connected to the front side pendulum hydraulic cylinder of anterior hip joint, connecting
The preceding shank hydraulic cylinder of section, hip joint is rotated before Driven by Hydraulic Cylinder is put in front side, big leg joint before preceding thigh Driven by Hydraulic Cylinder
Rotated, calf joint is rotated before preceding shank Driven by Hydraulic Cylinder.
In bionical Hydraulic Creeping robot provided by the invention, it can also have the feature that：Wherein, back body branch
Frame both sides are respectively arranged with rear hip joint bearing, rear thigh bearing and rear side pendulum bearing, and rear leg includes being connected to rear hip pass
Save the rear hip joint on bearing, the rear big leg joint being connected on rear thigh bearing, the gaskin being connected on rear big leg joint
Joint, the cross turning joint for being connected to rear side pendulum bearing and the ball pin for being connected to gaskin joint.
In bionical Hydraulic Creeping robot provided by the invention, it can also have the feature that：Wherein, wherein, after
Leg is small after the rear thigh hydraulic cylinder and connection also including big leg joint after being connected to the rear side pendulum hydraulic cylinder of rear hip joint, connecting
The gaskin hydraulic cylinder of leg joint, hip joint rotates after rear side puts Driven by Hydraulic Cylinder, big leg joint after rear thigh Driven by Hydraulic Cylinder
Rotate, gaskin Driven by Hydraulic Cylinder gaskin articulation.
In bionical Hydraulic Creeping robot provided by the invention, it can also have the feature that：Wherein, afterbody activity
Joint motion is arranged on the center of turning joint in annular shape, cross swing component, tail structure also include multiple adjustable springs and
Five connection components, adjustable spring are separately positioned between two neighboring turning joint, for connecting two neighboring turning joint,
Connection component is separately positioned between two neighboring turning joint, including the swing connector that is connected with previous turning joint and
The cross swing component being connected with the latter turning joint, swing connector and be connected with cross swing component so that tail structure can
Twisting, tail swing stepper motor is connected by shaft coupling with the ball hinge of connecting rod half, for driving tail structure to twist.
The effect of invention and effect
According to bionical Hydraulic Creeping robot involved in the present invention, bionical Hydraulic Creeping robot, there is incidence machine
Structure, tail structure, leg mechanism, body joint etc.；The robot is by HYDRAULIC CONTROL SYSTEM leg joint, and then controller row
Walk, its comprehensive swing by step motor control of neck portion mechanism, afterbody is compliant mechanism, flexible swinging, the crawling machine
The driving joint of people is provided with two parts, and the two parts are connected by revolute pair, swings freely, so the bionical hydraulic pressure of the present invention
Climbing robot, which has, to be more prone to control, and walking stability can be good, the characteristics of flexible swinging, more presses close to climbing robot
Research needs.
Brief description of the drawings
Fig. 1 is the general structural figure of bionical Hydraulic Creeping robot in embodiments of the invention；
Fig. 2 is the top view of bionical hydraulic robot in embodiments of the invention；
Fig. 3 is the incidence schematic diagram of bionical hydraulic robot in embodiments of the invention；
Fig. 4 is the presoma schematic diagram of bionical Hydraulic Creeping robot in embodiments of the invention；
Fig. 5 is the back body schematic diagram of bionical Hydraulic Creeping robot in embodiments of the invention；
Fig. 6 is the afterbody schematic diagram of bionical hydraulic robot in embodiments of the invention；
Fig. 7 is the leg schematic diagram of bionical hydraulic robot in embodiments of the invention；
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, it is real below
Example combination accompanying drawing is applied to be specifically addressed the present invention.
Embodiment：
Fig. 1 is the overall structure diagram in embodiments of the invention, and Fig. 2 is that the robot in embodiments of the invention bows
View.
As shown in Figures 1 and 2, a kind of bionical Hydraulic Creeping robot 100 of the present embodiment, including：Incidence 10, forerunner
Body 20, back body 30, afterbody 40, leg 50.
Fig. 3 is the incidence schematic diagram in embodiments of the invention.
As shown in figure 3, incidence 10 includes chin 11, head maxilla 12, forward neck portion 13, rear neck 14, fixed support 15, the
One stepper motor 16, the first crank 17, first connecting rod 18, the second stepper motor 19, the second crank 110, second connecting rod 111,
Three stepper motors 112, the 3rd crank 113, third connecting rod 114, the 4th stepper motor 115, the 4th crank 116 and fourth link
117。
First stepper motor 16 is arranged on fixed support 15, the first crank 17 and first on the first stepper motor 16
Connecting rod 18 connects, and the first stepper motor 16 drives the first crank 17 to draw a connecting rod 18, forms neck after forward neck portion driving is formed
Driving.The second stepper motor 19 the second crank 110 of connection on forward neck portion, the second crank 110 of connection of second connecting rod 111, second
Stepper motor 19 drives the second crank 110 traction second connecting rod 111 to form forward neck portion driving.3rd stepper motor 112 connection the
Three cranks 113, third connecting rod 114 connect the 3rd crank 113, and the 3rd stepper motor 112 drives the 3rd crank 113 traction the 3rd to connect
Bar 114, form the driving of head maxilla.4th stepper motor 115 connects the 4th crank 116, and fourth link 117 connects the 4th crank
116, the 4th stepper motor 115 drives the 4th crank 116 traction fourth link 117, forms chin driving.
Fig. 4 Fig. 5 Fig. 6 is presoma, back body and afterbody schematic diagram in embodiments of the invention.
As shown in figure 4, presoma 20 includes incidence link 21, front side pendulum bearing 22, preceding hip joint bearing 23, preceding big
Rotating disc 26 under leg bearing 24, compression spring 25 and precursor.As shown in figure 5, back body 30 include back body on rotating disc 31,
Thigh bearing 32, rear hip joint bearing 33, rear side pendulum bearing 34, tail swing stepper motor 35 and rotation hinged-support 36 afterwards.Such as
Shown in Fig. 6, afterbody 40 include multiple turning joints (41,42,43,44,45,46), it is spherical secondary 47, swing connector 48, cross
Swing component 49 and adjustable spring 410.
Presoma 20 is rotatablely connected by rotating disc 31 on rotating disc under presoma 26 and back body with back body 30.Rear quarters
Body 30 is rotatablely connected by rotating hinged-support 36 and spherical secondary 47 with afterbody 40.Adjustable spring 410 is separately positioned on two neighboring
Between turning joint, for connecting two neighboring turning joint, swing connector 48 and lived with the latter that turning joint connects
The cross swing component 49 of movable joint connection connects so that afterbody links together, and forms twisting connection, tail swing stepper motor
35 are connected by shaft coupling with the ball hinge 36 of connecting rod half, for driving afterbody to twist.
Fig. 7 is the leg schematic diagram in embodiments of the invention.
As shown in fig. 7, front leg portions 50 include hip joint 51, big leg joint 52, calf joint 53, ball pin 54, compression spring
55th, shank hydraulic cylinder 56, the cross turning joint 58 of thigh hydraulic cylinder 57 and side swing hydraulic cylinder 59.The both sides of presoma 20 are set respectively
There are preceding hip joint bearing 23, preceding thigh bearing 24 and front side pendulum bearing 25, front leg portions 50 to include before being connected to presoma 30
Hip joint 51 on hip joint bearing 23, be connected to before 24 big leg joint 52 on thigh bearing, be connected on big leg joint 52
Calf joint 53, be connected to the cross turning joint 58 of front side pendulum bearing 22 and be connected to the ball pin 54 of calf joint 53.
Front leg portions 50 also include being connected to the side swing hydraulic cylinder 59 of hip joint 51, being connected to the thigh hydraulic cylinder of big leg joint
57 and connection calf joint 53 shank hydraulic cylinder 56, side swing hydraulic cylinder 59 drive hip joint 51 rotated, thigh hydraulic cylinder
The 57 big leg joints 52 of driving are rotated, and shank hydraulic cylinder 56 drives calf joint 53 to be rotated.
Each component of leg is consistent with front leg portions afterwards, and various pieces annexation is consistent with front leg portions, no longer superfluous herein
State.
The course of work of the bionical Hydraulic Creeping robot running of the present embodiment is as follows：
The present invention is bionical Hydraulic Creeping robot, and incidence swings by stepper motor to control, and it cooperates
The opening and closing of the climbing robot face, the swing of neck can be achieved；Afterbody is compliant mechanism, by tail swing stepper motor come
The swing of afterbody is realized, each joint of afterbody is passive freedom degree, and turning joint is driven by tail swing stepper motor 35, against
Inertia, which is realized, to be swung, and is resetted by compression spring 55, and leg mechanism realizes its walking, and leg joint is controlled by hydraulic cylinder
Swing to realize walking function, presoma 20 is connected with back body 30 by revolute pair, realizes flexible twisting.
The effect of embodiment and effect
According to bionical Hydraulic Creeping robot involved in the present invention, because climbing robot has other robot institute not
The feature possessed, bionical Hydraulic Creeping robot, there is neck portion mechanism, tail structure, leg mechanism, body joint etc.；Should
Robot is by HYDRAULIC CONTROL SYSTEM leg joint, and then controller is walked, and its is complete by step motor control for neck portion mechanism
Bearing oscillation, afterbody are compliant mechanism, flexible swinging, and the driving joint of the climbing robot is provided with two parts, the two parts
Connected, swung freely by revolute pair, be more prone to control so the bionical Hydraulic Creeping robot of the present invention has, walking is steady
It is qualitative can be good, the characteristics of flexible swinging, more press close to the research needs of climbing robot.
The climbing robot of the present embodiment is additionally provided with compression spring, can prevent from mutually touching between two neighboring body
Hit.
The climbing robot of the present embodiment is additionally provided with antirattle spring, can be good at mitigating the climbing robot and is creeping
Caused vibrations, make its stable movement.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (7)
- A kind of 1. bionical Hydraulic Creeping robot, it is characterised in that including：Incidence, including chin, head maxilla, forward neck portion, rear neck and the fixed support being sequentially connected；Presoma, including forerunner's body support frame, be arranged on forerunner's body support frame neck neck structure link, be arranged on it is described The foreleg portion mechanism of forerunner's body support frame both sides, it is arranged on the compression spring after forerunner's body support frame and is arranged on the presoma branch The lower rotating disc of frame rear end；Back body, including rear-guard body support frame, be arranged on the rear-guard body support frame rear leg mechanism, be arranged on back body front end Upper rotating disc, be arranged on the tail swing stepper motor after rear quarters body support frame and be arranged on the last rotating hinge of rear quarters body support frame Bearing；AndAfterbody, including six turning joint units, each turning joint unit include turning joint, are arranged on the turning joint On swing connector and the cross swing component that is arranged in the turning joint,Wherein, the turning joint of first turning joint unit is provided with a spherical pair, the rear quarters body mechanism It is rotatablely connected by the rotation hinged-support and the spherical secondary and tail structure,The incidence is connected by the fixed support and the neck neck mechanism with the incidence,The presoma is rotatablely connected by the lower rotating disc and the upper rotating disc with the back body,The back body is rotatablely connected by the rotation hinged-support and the spherical secondary and afterbody.
- 2. bionical Hydraulic Creeping robot according to claim 1, it is characterised in that：Wherein, the incidence also includes chin drive component, head maxilla drive component, forward neck portion drive component and the drive of rear neck Dynamic component,Neck drive component includes being arranged on support bracket fastened first stepper motor, being connected to first stepping after described The first crank on motor and the first connecting rod being connected on first crank, first described in first driving stepper motor Crank draws the first connecting rod, so as to drive the rear neck movement,The second stepper motor that the forward neck portion drive component includes being arranged on the neck, it is connected to second cloth and enters electricity The second crank on machine is with the second connecting rod being connected on second crank, the second song described in second driving stepper motor Handle draws the second connecting rod, so as to drive the forward neck portion to move,The 3rd stepper motor that the head maxilla drive component includes being arranged on the neck, it is connected to the 3rd cloth and enters electricity The 3rd crank on machine is with the third connecting rod being connected on the 3rd crank, the 3rd song described in the 3rd driving stepper motor Handle draws the third connecting rod, so as to drive jaw movement on the head,The 4th stepper motor that the chin drive component includes being arranged on the head maxilla, it is connected to the 4th stepping electricity The 4th crank on machine is with the fourth link being connected on the 4th crank, the 4th song described in the 4th driving stepper motor Handle draws the fourth link, so as to drive the chin to move.
- 3. bionical Hydraulic Creeping robot according to claim 1, it is characterised in that：Wherein, hip joint bearing, preceding thigh bearing and front side pendulum bearing before forerunner's body support frame both sides are respectively arranged with,The front leg portions include be connected on the preceding hip joint bearing of the presoma preceding hip joint, be connected to the preceding thigh Preceding big leg joint on bearing, be connected to it is described before preceding calf joint on big leg joint, be connected to the front side pendulum bearing Cross turning joint and the ball pin for being connected to the preceding calf joint.
- 4. bionical Hydraulic Creeping robot according to claim 3, it is characterised in that：Wherein, the front leg portions also include being connected to the front side pendulum hydraulic cylinder of the anterior hip joint, the connection preceding thigh pass The preceding thigh hydraulic cylinder of section and the preceding shank hydraulic cylinder for connecting the preceding calf joint,Preceding hip joint described in the front side pendulum Driven by Hydraulic Cylinder is rotated,Preceding big leg joint described in the preceding thigh Driven by Hydraulic Cylinder is rotated,Preceding calf joint described in the preceding shank Driven by Hydraulic Cylinder is rotated.
- 5. bionical Hydraulic Creeping robot according to claim 1, it is characterised in that：Wherein, the rear quarters body support frame both sides are respectively arranged with rear hip joint bearing, rear thigh bearing and rear side pendulum bearing,Leg includes the connection rear hip joint on hip joint bearing, connection in the rear on thigh bearing in the rear after described Afterwards big leg joint, connection in the rear the gaskin joint on big leg joint, be connected to the cross activity of rear side pendulum bearing Joint and the ball pin for being connected to the gaskin joint.
- 6. bionical Hydraulic Creeping robot according to claim 5, it is characterised in that：Wherein, after described leg also include connection in the rear the rear side pendulum hydraulic cylinder of hip joint,Connect the rear thigh hydraulic cylinder of the rear big leg joint and connect the gaskin hydraulic cylinder in the gaskin joint,Hip joint rotates after described in the rear side pendulum Driven by Hydraulic Cylinder,Rear thigh articulation described in thigh Driven by Hydraulic Cylinder after described,Gaskin articulation described in the gaskin Driven by Hydraulic Cylinder.
- 7. bionical Hydraulic Creeping robot according to claim 1, it is characterised in that：Wherein, the afterbody turning joint activity is arranged on the center of the turning joint in annular shape, the cross swing component,The tail structure also includes multiple adjustable springs and five connection components,The adjustable spring is separately positioned between the two neighboring turning joint, is closed for connecting the two neighboring activity Section,The connection component is separately positioned between the two neighboring turning joint, including is connected with the previous turning joint The swing connector connect and the cross swing component being connected with turning joint described in the latter, the swing connector and the cross Swing component connects so that and the tail structure can twist,The tail swing stepper motor is connected by shaft coupling with the ball hinge of connecting rod half, for driving the tail structure Twisting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710555155.5A CN107351937B (en) | 2017-07-10 | 2017-07-10 | Bionic hydraulic crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710555155.5A CN107351937B (en) | 2017-07-10 | 2017-07-10 | Bionic hydraulic crawling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351937A true CN107351937A (en) | 2017-11-17 |
| CN107351937B CN107351937B (en) | 2020-09-01 |
Family
ID=60292461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710555155.5A Active CN107351937B (en) | 2017-07-10 | 2017-07-10 | Bionic hydraulic crawling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351937B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022247269A1 (en) * | 2021-05-25 | 2022-12-01 | 重庆邮电大学 | Anole-imitating wind-vibration-resistant climbing robot |
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| CN105365913A (en) * | 2015-11-30 | 2016-03-02 | 北京机械设备研究所 | Steering gear driven quadruped crawling robot |
| CN105523095A (en) * | 2016-01-14 | 2016-04-27 | 燕山大学 | Bionic climbing robot based on catapult device |
| CN105965514A (en) * | 2016-05-09 | 2016-09-28 | 上海理工大学 | Bionic hydraulic four-foot machine dinosaur structure |
| CN205819522U (en) * | 2016-08-02 | 2016-12-21 | 刘钰 | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201033434Y (en) * | 2006-10-25 | 2008-03-12 | 哈尔滨工程大学 | Wall lizard imitated microminiature robot |
| KR20110139839A (en) * | 2010-06-24 | 2011-12-30 | 건국대학교 산학협력단 | Small jumping robot actuated by shape memory alloy |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN103963867A (en) * | 2014-04-25 | 2014-08-06 | 中科宇博（北京）文化有限公司 | Biomimetic mechanical dinosaur |
| CN105365913A (en) * | 2015-11-30 | 2016-03-02 | 北京机械设备研究所 | Steering gear driven quadruped crawling robot |
| CN105523095A (en) * | 2016-01-14 | 2016-04-27 | 燕山大学 | Bionic climbing robot based on catapult device |
| CN105965514A (en) * | 2016-05-09 | 2016-09-28 | 上海理工大学 | Bionic hydraulic four-foot machine dinosaur structure |
| CN205819522U (en) * | 2016-08-02 | 2016-12-21 | 刘钰 | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022247269A1 (en) * | 2021-05-25 | 2022-12-01 | 重庆邮电大学 | Anole-imitating wind-vibration-resistant climbing robot |
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| Publication number | Publication date |
|---|---|
| CN107351937B (en) | 2020-09-01 |
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